def initMainToolBar(self, fields): from director import viewcolors app = fields.app toolBar = app.addToolBar('Main Toolbar') app.addToolBarAction(toolBar, 'Python Console', ':/images/python_logo.png', callback=app.showPythonConsole) toolBar.addSeparator() terrainModeAction = fields.app.addToolBarAction(toolBar, 'Camera Free Rotate', ':/images/camera_mode.png') lightAction = fields.app.addToolBarAction(toolBar, 'Background Light', ':/images/light_bulb_icon.png') app.addToolBarAction(toolBar, 'Reset Camera', ':/images/reset_camera.png', callback=applogic.resetCamera) def getFreeCameraMode(): return not applogic.getCameraTerrainModeEnabled(fields.view) def setFreeCameraMode(enabled): applogic.setCameraTerrainModeEnabled(fields.view, not enabled) terrainToggle = applogic.ActionToggleHelper(terrainModeAction, getFreeCameraMode, setFreeCameraMode) viewBackgroundLightHandler = viewcolors.ViewBackgroundLightHandler(fields.viewOptions, fields.gridObj, lightAction) return FieldContainer(viewBackgroundLightHandler=viewBackgroundLightHandler, terrainToggle=terrainToggle)
cameraview.imageManager) openniDepthPointCloud.addToView(view) om.addToObjectModel(openniDepthPointCloud, parentObj=om.findObjectByName('sensors')) if useGrid: grid = vis.showGrid(view, color=[0, 0, 0], alpha=0.1) grid.setProperty('Surface Mode', 'Surface with edges') app.setBackgroundColor([0.3, 0.3, 0.35], [0.95, 0.95, 1]) viewOptions = vis.ViewOptionsItem(view) om.addToObjectModel(viewOptions, parentObj=om.findObjectByName('sensors')) viewBackgroundLightHandler = viewcolors.ViewBackgroundLightHandler( viewOptions, grid, app.getToolsMenuActions()['ActionToggleBackgroundLight']) if not useLightColorScheme: viewBackgroundLightHandler.action.trigger() if useHands: handcontrolpanel.init(lHandDriver, rHandDriver, robotStateModel, robotStateJointController, view) else: app.removeToolbarMacro('ActionHandControlPanel') if useFootsteps: footstepsPanel = footstepsdriverpanel.init(footstepsDriver, robotStateModel, robotStateJointController, irisDriver)